75 lines
1.4 KiB
C++
75 lines
1.4 KiB
C++
/**
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@file PhysicsFrame.h
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@maintainer Morgan McGuire, [email protected]
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@created 2002-07-08
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@edited 2006-01-10
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*/
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#ifndef G3D_PHYSICSFRAME_H
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#define G3D_PHYSICSFRAME_H
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#include "G3D/platform.h"
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#include "G3D/Vector3.h"
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#include "G3D/Matrix3.h"
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#include "G3D/Quat.h"
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#include "G3D/CoordinateFrame.h"
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#include <math.h>
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#include <string>
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namespace G3D {
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/**
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An RT transformation using a quaternion; suitable for
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physics integration.
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This interface is in "Beta" and will change in the next release.
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*/
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class PhysicsFrame {
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public:
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Quat rotation;
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/**
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Takes object space points to world space.
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*/
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Vector3 translation;
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/**
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Initializes to the identity frame.
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*/
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PhysicsFrame();
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/**
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Purely translational force
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*/
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PhysicsFrame(const Vector3& translation) : translation(translation) {}
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PhysicsFrame(const CoordinateFrame& coordinateFrame);
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/** Compose: create the transformation that is <I>other</I> followed by <I>this</I>.*/
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PhysicsFrame operator*(const PhysicsFrame& other) const;
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virtual ~PhysicsFrame() {}
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CoordinateFrame toCoordinateFrame() const;
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/**
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Linear interpolation (spherical linear for the rotations).
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*/
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PhysicsFrame lerp(
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const PhysicsFrame& other,
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float alpha) const;
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void deserialize(class BinaryInput& b);
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void serialize(class BinaryOutput& b) const;
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};
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} // namespace
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#endif
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